An ampoule medicine intelligent dispensing robot system and a use method thereof

Abstract

The application provides an ampoule medicine liquid intelligent dispensing robot system, which comprises a total assembly base, a liquid pumping assembly, a mother liquor bottle rack assembly, a medicine dissolving device conveying assembly, a CCD assembly, a medicine feeding assembly and an automatic conveying device; the automatic conveying device and the medicine dissolving device conveying assembly are respectively fixedly connected with two sides of the total assembly base, the medicine feeding assembly is arranged at one end of the automatic conveying device, the medicine feeding assembly is fixedly connected with the total assembly base, the mother liquor bottle rack assembly is arranged between the total assembly base and the medicine dissolving device conveying assembly, and the mother liquor bottle clamp assembly is fixedly connected with the medicine dissolving device conveying device buckle. The multiple bottle clamping assemblies of the automatic conveying device clamp the ampoules on the medicine feeding assembly, and the feeding, clamping and conveying are simultaneously performed without interruption, so that the conveying quantity and efficiency of the ampoules are improved. The application further provides a use method of the ampoule medicine liquid intelligent dispensing robot, which is suitable for the above-mentioned ampoule medicine liquid intelligent dispensing robot system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to an ampoule medicine intelligent dispensing robot system and a use method thereof. BACKGROUND

[0002] Intravenous infusion is a method of using hydrostatic pressure to drip a certain amount of sterilized solution into the vein, which is one of the important measures for clinical rescue and treatment of patients. At present, most ampoule dispensing robots adopt single-head dispensing mode, only one bottle can be prepared at a time, and the front and rear processes cannot be carried out at the same time, so the waiting time is long. At the same time, each execution module carries out dispensing operation around the medicine rack and the bottle clamping device, the motion path is overlapped and very long, the speed is slow, the time is long, and the efficiency is low. And the bottle pulling and clamping use multiple mechanical hands, the medicine dispensing robot is large in size. There is an urgent need for an intelligent robot which is small in size and can improve the work efficiency of medicine dispensing. SUMMARY

[0003] In order to overcome the technical problems of large size and low work efficiency of the current medicine dispensing robot, the present application provides an ampoule medicine intelligent dispensing robot system and a use method thereof.

[0004] The present application provides an ampoule medicine intelligent dispensing robot system, which comprises a total assembly base, a liquid pumping assembly, a mother liquor bottle rack assembly, a medicine dissolving device conveying assembly, a CCD assembly, a medicine feeding assembly and an automatic conveying device And a garbage collection system ; the automatic conveying device and the medicine dissolving device conveying assembly are respectively fixedly connected with both sides of the total assembly base, the medicine feeding assembly is arranged at one end of the automatic conveying device, the medicine feeding assembly is fixedly connected with the total assembly base, the mother liquor bottle rack assembly is arranged between the total assembly base and the medicine dissolving device conveying assembly, and the mother liquor bottle rack assembly is buckle-fixedly connected with the medicine dissolving device conveying device; the CCD assembly and the liquid pumping assembly are respectively arranged between the automatic conveying device and the medicine dissolving device conveying assembly, and the CCD assembly and the liquid pumping assembly are respectively fixedly connected with the total assembly base.

[0005] Preferably, the automatic conveying device comprises a fixed support, a feeding assembly, a bottle pulling mechanism, a bottle lifting assembly, a cutting assembly and a disinfection device; the feeding assembly is provided with an annular guide rail, and the feeding assembly and the bottle lifting assembly are respectively fixedly connected with the fixed support; the bottle pulling mechanism, the bottle lifting assembly, the cutting assembly and the disinfection device are respectively fixedly connected with the feeding assembly; the feeding assembly is provided with two or more bottle clamps, the bottle clamps are movably connected with the feeding assembly, and the bottle clamps are arranged along the annular guide rail; the feeding assembly, the bottle pulling mechanism, the bottle lifting assembly, the cutting assembly and the disinfection device are respectively provided with a motor.

[0006] Preferably, the medicine dissolving device delivery assembly comprises a seat plate, a turnover plate, a medicine dissolving device, a synchronous belt, a medicine dissolving device clamp and a needle stripping assembly; the medicine dissolving device clamp is provided with more than four, and the medicine dissolving device clamp is fixedly connected with the synchronous belt and the turnover plate respectively; the needle stripping assembly is fixedly connected with the seat plate; the turnover plate and the synchronous belt are movably connected with the seat plate respectively; the medicine dissolving device clamp is used for clamping the medicine dissolving device, and the medicine dissolving device and the medicine dissolving device clamp are one-to-one corresponding in number and position; the turnover plate, the synchronous belt and the needle stripping assembly are respectively provided with a motor.

[0007] Preferably, the liquid pumping assembly comprises a base assembly, a rotating assembly and a translating assembly; one end of the base assembly is slidably connected with the rotating assembly through a screw rod, and the other end of the rotating assembly is fixedly connected with the translating assembly; the translating assembly comprises a body, a fixing clamp and a pumping clamp, the fixing clamp is fixedly connected with the body, and the pumping clamp is slidably connected with the body; the fixing clamp and the pumping clamp are slidably connected through a screw rod; the rotating assembly and the translating assembly are respectively provided with a motor.

[0008] Preferably, the mother liquor bottle rack assembly comprises a vertical plate, a circular guide rail and a swing rod, the circular guide rail is fixedly connected with the vertical plate, and the swing rod is movably connected with the vertical plate as a connecting rod; the swing rod is provided with a limiting rod, and the limiting rod is arranged in the circular guide rail; the swing rod drives the mother liquor bottle through the circular guide rail; one side of the vertical plate corresponding to the position of the swing rod is provided with a motor.

[0009] Preferably, the CCD assembly comprises a CCD camera, a supporting rod, a rotating shaft and a rotating support, the rotating support is fixedly connected with the total assembly base, one end of the rotating shaft is fixedly connected with the rotating support, and the other end of the rotating shaft is movably connected with one end of the supporting rod through a bearing; the other end of the supporting rod is fixedly connected with the CCD camera; one end of the rotating support is provided with a motor.

[0010] Preferably, the medicine feeding assembly comprises a tray seat and a material disc, the tray seat is fixedly connected with the material disc through a screw, the material disc is provided with a spiral groove, and the ampoule to be processed is placed in the groove; the opening of the groove is an angle structure and is provided with a stop block, and the stop block is movably connected with the material disc through a snap spring; one side of the material disc close to the tray seat is provided with a motor.

[0011] Preferably, the total assembly base is provided with a shell, the liquid pumping assembly, the mother liquor bottle rack assembly, the medicine dissolving device conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are arranged in the shell, one side of the shell is provided with an operation door and a man-machine interaction assembly, the man-machine interaction assembly is screw-fixedly connected with the operation door, and the operation door is rotationally and movably connected with the shell; the shell is provided with an air purification system, the shell is provided with a code scanning module and a printing output module; and the liquid pumping assembly, the mother liquor bottle rack assembly, the medicine dissolving device conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are electrically connected with the man-machine interaction assembly.

[0012] Preferably, the garbage recycling system comprises a garbage can, a garbage output device and a sealing door, the garbage can is arranged at the bottom of the garbage output device, the sealing door is arranged at the top of the garbage output device, the garbage output device is fixedly connected with the automatic conveying device, and the sealing door is slidably connected with the garbage output device.

[0013] The application also provides a use method of the ampoule medicine liquid intelligent deployment robot, which is suitable for the ampoule medicine liquid intelligent deployment robot system and comprises the following steps.

[0014] S1: the turnover plate is turned over, so that the medicine dissolving device is close to the synchronous belt, and the medicine dissolving device clamp fixedly connected with the synchronous belt clamps the medicine dissolving device;

[0015] S2: the medicine dissolving device clamp fixedly connected with the synchronous belt clamps the medicine dissolving device and moves to a position corresponding to the needle removing assembly, and the needle removing assembly removes the needle cap of the medicine dissolving device;

[0016] S3: the synchronous belt moves the medicine dissolving device after the needle cap is removed to a position corresponding to the liquid pumping assembly, and the liquid pumping assembly clamps the medicine dissolving device;

[0017] S4: the ampoule is placed on the tray, the medicine dissolving device is placed on the turnover plate, and the mother liquor bottle is placed on the mother liquor bottle rack assembly;

[0018] S5: the operation door is closed, and the man-machine interaction assembly is used to set the motor working parameters of the liquid pumping assembly, the mother liquor bottle rack assembly, the medicine dissolving device conveying assembly, the CCD assembly, the disinfection device, the medicine feeding assembly and the automatic conveying device;

[0019] S6: the automatic conveying device clamps the ampoule from the medicine feeding assembly, and moves the ampoule to a position corresponding to the disinfection device;

[0020] S7: the disinfection device sprays disinfectant on the neck of the ampoule;

[0021] S8: The sterilized ampoule bottle is moved to a position corresponding to the cutting assembly, the cutting assembly clamps the ampoule bottle, and cuts around the neck of the ampoule bottle;

[0022] S9: The cut ampoule bottle is moved to a position corresponding to the bottle pulling mechanism, the bottle pulling mechanism clamps the ampoule bottle, and pulls off the neck of the ampoule bottle at the cutting position;

[0023] S10: The ampoule bottle after the neck is pulled off is moved to a position corresponding to the liquid extraction assembly, the liquid extraction assembly extracts the liquid medicine in the ampoule bottle, and the bottle pulling mechanism releases the empty bottle to enter the garbage recycling system;

[0024] S11: The CCD assembly detects the position of the mother liquor bottle mouth, and the liquid extraction assembly injects the liquid medicine in the medicine dissolving device into the mother liquor bottle;

[0025] S12: The medicine dispensing is completed, the operator opens the operation door, and takes out the mother liquor bottle with the prepared liquid medicine.

[0026] Compared with the prior art, the ampoule bottle liquid intelligent dispensing robot system and the use method thereof provided by the present application have the following advantages:

[0027] 1. An ampoule bottle liquid intelligent dispensing robot system is provided with a medicine feeding assembly and an automatic conveying device, a plurality of bottle clamping assemblies of the automatic conveying device clamp the ampoule bottles on the medicine feeding assembly, and uninterrupted conveying is performed, so that the feeding, clamping and conveying are simultaneously performed, and the number and efficiency of the ampoule bottle conveying are improved.

[0028] 2. An ampoule bottle liquid intelligent dispensing robot system is provided with a plurality of needle cylinders of a medicine dissolving device conveying assembly, a plurality of mechanical hands clamp and suck the ampoule bottle liquid and inject it into the mother liquor bottle, each process is simultaneously performed, and the dispensing efficiency is improved.

[0029] 3. An ampoule bottle liquid intelligent dispensing robot system is provided with a plurality of mother liquor bottle rack assemblies, realizes simultaneous conveying of a plurality of mother liquor bottles, integrates the bottle pulling and clamping, has a compact structure, and has a small size. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a whole structure schematic view of an ampoule bottle liquid intelligent dispensing robot system provided by the present application;

[0031] Figure 2 is a structure schematic view of an automatic conveying device in an ampoule bottle liquid intelligent dispensing robot system provided by the present application;

[0032] Figure 3 is a structure schematic view of a medicine dissolving device conveying assembly in an ampoule bottle liquid intelligent dispensing robot system provided by the present application;

[0033] Figure 4It is ampoule medicine intelligent deployment robot system in the drawing assembly structure schematic diagram of the liquid extraction assembly provided by the application;

[0034] Figure 5 It is ampoule medicine intelligent deployment robot system in the structure schematic diagram of the translation assembly provided by the application;

[0035] Figure 6 It is ampoule medicine intelligent deployment robot system in the structure schematic diagram of the mother liquor bottle rack assembly provided by the application;

[0036] Figure 7 It is ampoule medicine intelligent deployment robot system in the structure schematic diagram of the CCD assembly provided by the application;

[0037] Figure 8 It is ampoule medicine intelligent deployment robot system in the structure schematic diagram of the medicine feeding assembly provided by the application;

[0038] Figure 9 It is the structure schematic diagram of the shell of ampoule medicine intelligent deployment robot system provided by the application.

[0039] Mark 1, ampoule medicine intelligent deployment robot system; 2, general assembly base; 21, shell, 22, operation door; 23, human-computer interaction assembly; 3, liquid extraction assembly; 31, base assembly; 32, rotation assembly; 33, translation assembly; 331, body; 332, fixed clamp; 333, extraction clamp; 4, mother liquor bottle rack assembly; 41, vertical plate; 42, circular guide rail; 43, swing lever; 5, medicine dissolver conveying assembly; 51, seat plate; 52, turnover plate; 53, medicine dissolver; 54, synchronous belt; 55, medicine dissolver clamp; 56, needle removal assembly; 6, CCD assembly; 61, CCD camera; 62, support rod; 63, rotation shaft; 64, rotation support; 7, medicine feeding assembly; 71, tray seat; 72, tray; 73, stop block; 8, automatic conveying device; 81, fixed support; 82, feeding assembly; 83, bottle pulling mechanism; 84, bottle lifting assembly; 85, cutting assembly; 9, garbage recycling system; 91, garbage output device; 92, sealing door; 10, disinfection device. DETAILED DESCRIPTION

[0040] In order to make the purpose of the application, the technical scheme and the advantages more clear and obvious, the application will be further described in detail below in combination with the drawings and the implementation examples. It should be understood that the specific examples described herein are only used to explain the application, and are not used to limit the application.

[0041] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. Where an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions as used herein are for illustrative purposes only.

[0042] Referring to Figures 1 to 9 The present application provides an ampoule medicine liquid intelligent dispensing robot system 1, which comprises a total assembly base, a liquid extraction assembly 3, a mother liquor bottle rack assembly 4, a medicine dissolving device conveying assembly 5, a CCD assembly 6, a medicine feeding assembly 7, an automatic conveying device 8 And a garbage collection system 9 The automatic conveying device 8 and the medicine dissolving device conveying assembly 5 are respectively fixedly connected to the two sides of the total assembly base 2, the medicine feeding assembly 7 is arranged at one end of the automatic conveying device 8, the medicine feeding assembly 7 is fixedly connected to the total assembly base, the mother liquor bottle rack assembly 4 is arranged between the total assembly base and the medicine dissolving device conveying assembly 5, and the mother liquor bottle rack assembly is buckle-fixedly connected to the medicine dissolving device conveying device; the CCD assembly 6 and the liquid extraction assembly 3 are respectively arranged between the automatic conveying device 8 and the medicine dissolving device conveying assembly 5, and the CCD assembly 6 and the liquid extraction assembly 3 are respectively fixedly connected to the total assembly base.

[0043] It can be understood that the automatic conveying device 8 clamps the ampoule bottle supplied by the feeding assembly, the automatic conveying device 8 disinfects, cuts and pulls the ampoule bottle, the liquid extraction assembly 3 clamps the medicine dissolving device 53 on the medicine dissolving device conveying assembly 5, the liquid extraction assembly 3 uses the medicine dissolving device 53 to extract the medicine liquid in the ampoule bottle, the CCD assembly 6 detects the position of the mother bottle in the mother bottle rack assembly, the liquid extraction assembly 3 injects the medicine liquid into the mother bottle, the liquid extraction assembly 3 puts the medicine dissolving device 53 into the garbage recycling system 9, and the automatic conveying device 8 puts the ampoule bottle after extracting the medicine liquid into the garbage recycling system 9, and the medicine dispensing is completed.

[0044] It can be understood that the automatic conveying device 8 and the medicine dissolving device conveying assembly 5 are respectively screw-fixedly connected to the two sides of the total assembly base 2, the medicine feeding assembly 7 is screw-fixedly connected to the total assembly base, and the CCD assembly 6 and the liquid extraction assembly 3 are respectively screw-fixedly connected to the total assembly base.

[0045] Specifically, the automatic conveying device 8 comprises a fixed support 81, a feeding assembly 82, a bottle pulling mechanism 83, a bottle lifting assembly 84, a cutting assembly 85 and a disinfecting device 10; the feeding assembly 82 is provided with an annular guide rail, and the feeding assembly 82 and the bottle lifting assembly 84 are fixedly connected with the fixed support 81 respectively; the bottle pulling mechanism, the bottle lifting assembly 84, the cutting assembly 85 and the disinfecting device 10 are fixedly connected with the feeding assembly 82 respectively; the feeding assembly 82 is provided with two or more bottle clamps, the bottle clamps are movably connected with the feeding assembly 82, and the bottle clamps are placed along the annular guide rail; the feeding assembly 82, the bottle pulling mechanism 83, the bottle lifting assembly 84, the cutting assembly 85 and the disinfecting device 10 are respectively provided with motors.

[0046] It can be understood that the bottle pulling mechanism is provided with two or more, and the bottle lifting assembly 84 is provided with two or more.

[0047] It can be understood that the feeding assembly 82 clamps the ampoule, and the ampoule moves along the annular guide rail, passes through the disinfecting device 10, the bottle pulling mechanism 83, the bottle lifting assembly 84 and the cutting assembly 85. For example, the ampoule moves to the position corresponding to the bottle lifting assembly 84, the bottle lifting assembly 84 adjusts the height of the ampoule to the set position, so as to facilitate disinfection, cutting, bottle pulling and liquid extraction of the ampoule, the ampoule moves to the position corresponding to the disinfecting device 10, the disinfecting device 10 sprays disinfectant on the ampoule first, the disinfected ampoule moves to the position corresponding to the cutting assembly 85, the cutting assembly 85 performs ring cutting treatment on the neck part of the ampoule, the ampoule after the ring cutting treatment moves to the position corresponding to the bottle pulling mechanism 83, the bottle pulling mechanism 83 knocks the cap of the ampoule, and the ampoule after the cap knocking moves to the position corresponding to the liquid extraction assembly 3, the liquid extraction assembly 3 extracts the liquid in the ampoule, after the liquid extraction is completed, the feeding assembly 82 moves to the position corresponding to the garbage recycling system 9, the feeding assembly 82 releases the clamped ampoule, so that the ampoule falls into the garbage recycling system 9.

[0048] It can be understood that the feeding assembly 82, the bottle pulling mechanism 83, the bottle lifting assembly 84, the cutting assembly 85 and the disinfecting device 10 are respectively provided with servo motors, and the servo motors control the working of the automatic conveying device 8.

[0049] Specifically, the medicine dissolving device delivery assembly 5 comprises a seat plate 51, a turnover plate 52, medicine dissolving devices 53, a synchronous belt 54, medicine dissolving device clamps 55 and a needle removal assembly 56; the medicine dissolving device clamps 55 are more than four, and are respectively fixedly connected to the synchronous belt 54 and the turnover plate 52; the needle removal assembly 56 is fixedly connected to the seat plate 51; the turnover plate 52 and the synchronous belt 54 are movably connected to the seat plate 51; the medicine dissolving device clamps 55 are used for clamping the medicine dissolving devices 53; the medicine dissolving devices 53 correspond to the medicine dissolving device clamps 55 in number and position; the turnover plate 52, the synchronous belt 54 and the needle removal assembly 56 are respectively provided with motors.

[0050] It can be understood that the turnover plate 52 places the medicine dissolving devices 53 on the medicine dissolving device clamps 55 fixedly connected to the synchronous belt 54 through turnover. The synchronous belt 54 drives the medicine dissolving devices 53 to move in a ring shape horizontally, and the medicine dissolving devices 53 pass through the needle removal assembly 56 and the liquid pumping assembly 3. For example, the medicine dissolving devices 53 move to the positions corresponding to the needle removal assembly 56, the needle removal assembly 56 clamps and removes the needle caps of the medicine dissolving devices 53, the medicine dissolving devices 53 after the needle caps are removed move to the positions corresponding to the liquid pumping assembly 3, and the liquid pumping assembly 3 clamps the medicine dissolving devices 53 for pumping liquid.

[0051] It can be understood that the synchronous belt 54 and the turnover plate 52 both use screws to fix the medicine dissolving device clamps 55, the needle removal assembly 56 is fixedly connected to the seat plate 51 by screws, the turnover plate 52 is movably connected to the seat plate 51 by an active shaft, and the synchronous belt 54 is movably connected to the seat plate 51 by a bearing. The turnover plate 52, the synchronous belt 54 and the needle removal assembly 56 are respectively provided with servo motors, and the medicine dissolving device delivery assembly 5 is controlled to work by the servo motors.

[0052] Specifically, the liquid pumping assembly 3 comprises a base assembly 31, a rotating assembly 32 and a translation assembly 33; one end of the base assembly 31 is slidably connected to the rotating assembly 32 by a screw rod, and the other end of the rotating assembly 32 is fixedly connected to the translation assembly 33; the translation assembly 33 comprises a body 331, a fixing clamp 332 and a pumping and injecting clamp 333; the fixing clamp 332 is fixedly connected to the body 331, and the pumping and injecting clamp 333 is slidably connected to the body 331; the fixing clamp and the pumping and injecting clamp 333 are slidably connected by a screw rod; and the rotating assembly 32 and the translation assembly 33 are respectively provided with motors.

[0053] It can be understood that the liquid extraction assembly 3 is provided with two or more, the base assembly 31 moves the rotating assembly 32 to the corresponding position of the medicine dissolver 53 through a screw rod, the translating assembly 33 clamps the medicine dissolver 53, the rotating assembly 32 moves the translating assembly 33 to the corresponding position of the ampoule through rotation, the medicine dissolver 53 extracts the liquid medicine from the ampoule, the rotating assembly 32 moves the translating assembly 33 to the position of the mother liquor bottle through rotation, the medicine dissolver 53 injects the liquid medicine into the mother liquor bottle, the rotating assembly 32 moves the translating assembly 33 to the corresponding position of the garbage recycling system 9 through rotation, and the translating assembly 33 releases the clamping of the medicine dissolver 53, so that the medicine dissolver 53 falls into the garbage recycling system 9.

[0054] It can be understood that the rotating assembly 32 and the translating assembly 33 are respectively provided with a servo motor, and the liquid extraction assembly 3 is controlled to work through the servo motor.

[0055] Specifically, the mother liquor bottle rack assembly 4 includes a vertical plate 41, a circular guide rail 42, and a swing rod 43, the circular guide rail 42 is fixedly connected with the vertical plate 41, the swing rod 43 is connected with the vertical plate 41 in a linkage manner, the swing rod 43 is provided with a limiting rod, the limiting rod is arranged in the circular guide rail 42, and the swing rod 43 drives the mother liquor bottle through the circular guide rail 42; one side of the vertical plate 41 is provided with a motor corresponding to the position of the swing rod 43.

[0056] It can be understood that the mother liquor bottle rack assembly 4 is provided with two or more, two or more mother liquor bottles are placed on each vertical plate 41, the swing rod 43 moves along the circular guide rail 42 in a circular manner through the limiting rod, so that the swing rod 43 drives the mother liquor bottle to move to a position to be injected with liquid medicine.

[0057] It can be understood that the circular guide rail 42 is fixedly connected with the vertical plate 41 in a screwing manner, one side of the vertical plate 41 is provided with a servo motor corresponding to the position of the swing rod 43, the mother liquor bottle rack assembly 4 is controlled to work through the servo motor, so that the swing rod 43 drives the mother liquor bottle to reach the position to be injected with liquid medicine.

[0058] Specifically, the CCD assembly 6 includes a CCD camera 61, a supporting rod 62, a rotating shaft 63, and a rotating support 64, the rotating support 64 is fixedly connected with the total assembly base, one end of the rotating shaft 63 is fixedly connected with the rotating support 64, the other end of the rotating shaft 63 is movably connected with one end of the supporting rod 62 through a bearing, and the other end of the supporting rod 62 is fixedly connected with the CCD camera 61; one end of the rotating support 64 is provided with a motor.

[0059] It can be understood that the support rod 62 rotates the CCD camera 61 to the corresponding position of the mother liquor bottle through the rotating shaft 63, and the CCD camera 61 detects the position of the mother liquor bottle to be injected through an image recognition system and feeds back the detection information to the liquid pumping assembly 3.

[0060] It can be understood that the rotating support 64 is fixedly connected with the total assembly base by screws, one end of the rotating shaft 63 is fixedly connected with the rotating support 64 by screws, and the other end of the support rod 62 is fixedly connected with the CCD camera 61 by screws. One end of the rotating support 64 is provided with a servo motor, and the servo motor controls the rotation of the support rod 62. CCD (Charge Coupled Device).

[0061] Specifically, the medicine feeding assembly 7 includes a tray seat 71 and a tray 72, the tray seat 71 is fixedly connected with the tray 72 by screws, the tray 72 is provided with a spiral groove, and the ampoule bottle to be processed is placed in the groove; the opening of the groove is an angle structure and is provided with a stop block 73, the stop block 73 is movably connected with the tray 72 by a snap spring; and the tray 72 is provided with a motor near the side close to the tray seat 71.

[0062] It can be understood that the motor is fixedly connected with the tray 72 by screws, and the motor is a vibration motor. The ampoule bottle is orderly conveyed to the outlet through vibration, the outlet is provided with a stop block 73, and the ampoule bottle is prevented from falling out of the medicine feeding assembly 7 when moving to the outlet. When the automatic conveying device 8 clamps the ampoule bottle, the clamped ampoule bottle pushes away the stop block, and the medicine feeding process is completed.

[0063] Specifically, the total assembly base is provided with a shell 2, the liquid pumping assembly 3, the mother liquor bottle rack assembly 4, the medicine dissolving device conveying assembly 5, the CCD assembly 6, the medicine feeding assembly 7 and the automatic conveying device 8 are arranged in the shell 2, one side of the shell 2 is provided with an operation door 22 and a man-machine interaction assembly 23, the man-machine interaction assembly 23 is fixedly connected with the operation door 22 by screws, and the operation door 22 is movably connected with the shell 2 by a rotating shaft 63; the liquid pumping assembly 3, the mother liquor bottle rack assembly 4, the medicine dissolving device conveying assembly 5, the CCD assembly 6, the medicine feeding assembly 7 and the automatic conveying device 8 are electrically connected with the man-machine interaction assembly 23 respectively.

[0064] It can be understood that the shell 2 is fixedly connected with the total assembly base by screws, the shell 2 and the total assembly base form a closed space after the operation door 22 is closed, the human-computer interaction assembly 23 is a touch display screen, the human-computer interaction assembly 23 is provided with a controller, the controller is provided with working parameters, and the controller is electrically connected with the liquid pumping assembly 3, the mother liquor bottle rack assembly 4, the medicine dissolving device conveying assembly 5, the CCD assembly 6, the disinfection device 10, the medicine adding assembly 7 and the automatic conveying device 8 respectively.

[0065] Specifically, the shell 2 is provided with an air purification system, the shell 2 is provided with a code scanning module and a printing output module.

[0066] It can be understood that the shell 2 is provided with a hundred-level air purification system, the air purification system purifies and disinfects the air in the cavity of the shell 2, so that the hundred-level cleanliness is achieved, a dust-free and sterile environment is provided for dispensing, liquid medicine pollution is prevented, and the safety of dispensing and medical staff is ensured, the code scanning module and the printing output module can quickly input and output medicine information.

[0067] Specifically, the garbage recycling system 9 includes a garbage can, a garbage output device 91 and a sealing door 92, the garbage can is arranged at the bottom of the garbage output device 91, the sealing door 92 is arranged at the top of the garbage output device 91, the garbage output device 91 is fixedly connected with the automatic conveying device 8, and the sealing door 92 is slidably connected with the garbage output device 91.

[0068] It can be understood that the garbage recycling system 9 is provided with two or more than two for classified recycling and storage of waste, one or more than one of the garbage recycling system 9 is used for the needle cap and the medicine dissolving device 53, and one or more than one of the garbage recycling system 9 is used for the ampoule bottle. When the garbage can is emptied, the sealing door 92 and the garbage output device 91 are slidably closed, so that the shell 2 and the total assembly base maintain a closed space.

[0069] The application also provides a use method of the ampoule liquid intelligent dispensing robot, which is suitable for the above-mentioned ampoule liquid intelligent dispensing robot system 1 and includes the following steps.

[0070] S1: The turnover plate 52 is turned over, so that the medicine dissolving device 53 is close to the synchronous belt 54, and the medicine dissolving device clamp 55 fixedly connected with the synchronous belt 54 clamps the medicine dissolving device 53;

[0071] S2: The medicine dissolving device clamp 55 fixedly connected with the synchronous belt 54 clamps the medicine dissolving device 53 and moves to a position corresponding to the needle removing assembly 56, and the needle removing assembly 56 removes the needle cap of the medicine dissolving device 53.

[0072] S3: The synchronization belt 54 moves the medicine dissolving device 53 to the position corresponding to the liquid pumping assembly 3 after the needle cap of the medicine dissolving device 53 is removed, and the liquid pumping assembly 3 clamps the medicine dissolving device 53;

[0073] S4: The ampoule to be pulled is placed on the tray 72, the medicine dissolving device 53 is placed on the turnover plate 52, and the mother liquor bottle is placed on the mother liquor bottle rack assembly 4;

[0074] S5: The operation door 22 is closed, and the motor working parameters of the liquid pumping assembly 3, the mother liquor bottle rack assembly 4, the medicine dissolving device conveying assembly 5, the CCD assembly 6, the disinfection device 10, the medicine adding assembly 7, and the automatic conveying device 8 are set by using the human-computer interaction assembly 23;

[0075] S6: The automatic conveying device 8 clamps the ampoule to be pulled from the medicine adding assembly 7, and the automatic conveying device 8 moves the ampoule to be pulled to the position corresponding to the disinfection device 10;

[0076] S7: The disinfection device 10 sprays disinfectant on the neck of the ampoule to be pulled;

[0077] S8: The disinfected ampoule to be pulled is moved to the position corresponding to the cutting assembly 85, the cutting assembly 85 clamps the ampoule, and cuts around the neck of the ampoule;

[0078] S9: The cut ampoule is moved to the position corresponding to the bottle pulling mechanism 83, the bottle pulling mechanism 83 clamps the ampoule, and pulls off the neck of the ampoule at the cutting position;

[0079] S10: The ampoule after the neck is pulled off is moved to the position corresponding to the liquid pumping assembly 3, the liquid pumping assembly 3 pumps the liquid in the ampoule, the bottle pulling mechanism 83 releases the empty bottle, and the empty bottle enters the garbage recycling system;

[0080] S11: The CCD assembly 6 detects the position of the mouth of the mother liquor bottle, and the liquid pumping assembly 3 injects the liquid in the medicine dissolving device 53 into the mother liquor bottle;

[0081] S12: The medicine is dispensed, the operator opens the operation door 22, and takes out the mother liquor bottle with the dispensed liquid.

[0082] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement, and improvement within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. An ampoule medicine intelligent dispensing robot system, characterized in that: The application relates to a medicine dispensing device, which comprises a total assembly base, a liquid pumping assembly, a mother liquor bottle rack assembly, a medicine dissolving device conveying assembly, a CCD assembly and a medicine dispensing assembly Automatic conveying device and garbage recycling system ; The automatic conveying device and the medicine dissolving device conveying assembly are respectively fixedly connected with two sides of the general assembly base, the medicine loading assembly is arranged at one end of the automatic conveying device, the medicine loading assembly is fixedly connected with the general assembly base, the mother liquor bottle rack assembly is arranged between the general assembly base and the medicine dissolving device conveying assembly, and the mother liquor bottle rack assembly is buckle-fixedly connected with the medicine dissolving device conveying device; The CCD assembly and the liquid pumping assembly are respectively arranged between the automatic conveying device and the medicine dissolving device conveying assembly, and the CCD assembly and the liquid pumping assembly are respectively fixedly connected with the general assembly base; The automatic conveying device comprises a fixed support, a feeding assembly, a bottle pulling mechanism, a bottle lifting assembly, a cutting assembly and a disinfection device; The feeding assembly is arranged in the form of a ring-shaped guide rail, and the feeding assembly and the bottle lifting assembly are respectively fixedly connected with the fixed support; The bottle pulling mechanism, the bottle lifting assembly, the cutting assembly and the disinfection device are respectively fixedly connected with the feeding assembly; The feeding assembly is provided with two or more bottle clamps, the bottle clamps are movably connected with the feeding assembly, and the bottle clamps are arranged along the ring-shaped guide rail; The feeding assembly, the bottle pulling mechanism, the bottle lifting assembly, the cutting assembly and the disinfection device are respectively provided with motors; The medicine dissolving device conveying assembly comprises a seat plate, a turnover plate, a medicine dissolving device, a synchronous belt, a medicine dissolving device clamp and a needle removing assembly; The medicine dissolving device clamp is provided with four or more, the medicine dissolving device clamp is respectively fixedly connected with the synchronous belt and the turnover plate, the needle removing assembly is fixedly connected with the seat plate, and the turnover plate and the synchronous belt are movably connected with the seat plate; The medicine dissolving device clamp is used for clamping the medicine dissolving device, and the medicine dissolving device and the medicine dissolving device clamp are one-to-one corresponding in number and position; The turnover plate, the synchronous belt and the needle removing assembly are respectively provided with motors; The liquid pumping assembly comprises a base assembly, a rotating assembly and a translation assembly; One end of the rotating assembly is slidably connected with the base assembly through a screw rod, and the other end of the rotating assembly is fixedly connected with the translation assembly; The translation assembly comprises a body, a fixed clamp and a pumping clamp, the fixed clamp is fixedly connected with the body, the pumping clamp is slidably connected with the body, and the fixed clamp and the pumping clamp are slidably connected through a screw rod; The rotating assembly and the translation assembly are respectively provided with motors; The mother liquor bottle rack assembly comprises a vertical plate, a circular guide rail and a swing rod, the circular guide rail is fixedly connected with the vertical plate, the swing rod is movably connected with the vertical plate in the form of a connecting rod, the swing rod is provided with a limiting rod, the limiting rod is arranged in the circular guide rail, and the swing rod drives the mother liquor bottle through the circular guide rail; A motor is arranged on one side of the vertical plate corresponding to the position of the swing rod; The CCD assembly comprises a CCD camera, a supporting rod, a rotating shaft and a rotating support, the rotating support is fixedly connected with the general assembly base, one end of the rotating shaft is fixedly connected with the rotating support, the other end of the rotating shaft is movably connected with one end of the supporting rod through a bearing, and the other end of the supporting rod is fixedly connected with the CCD camera; One end of the rotating support is provided with a motor. The medicine feeding assembly comprises a tray seat and a tray, the tray seat is fixedly connected with the tray by screws, the tray is provided with a spiral groove, and an ampoule to be processed is placed in the groove; The groove opening is provided with a corner structure and a stopper, and the stopper is movably connected with the tray by a snap spring; The tray is provided with a motor on the side close to the tray seat.

2. The ampoule medicine intelligent dispensing robot system according to claim 1, characterized in that: The assembly base is provided with a shell, the liquid pumping assembly, the mother liquor bottle rack assembly, the medicine feeder conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are arranged in the shell, one side of the shell is provided with an operation door and a man-machine interaction assembly, the man-machine interaction assembly is fixedly connected with the operation door by screws, and the operation door is movably connected with the shell by a rotating shaft; The shell is provided with an air purification system, and the shell is provided with a code scanning module and a printing output module; The liquid pumping assembly, the mother liquor bottle rack assembly, the medicine feeder conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are electrically connected with the man-machine interaction assembly.

3. The ampoule medicine intelligent dispensing robot system according to claim 1, characterized in that: The garbage recycling system comprises a garbage can, a garbage output device and a sealing door, the garbage can is arranged at the bottom of the garbage output device, the sealing door is arranged at the top of the garbage output device, the garbage output device is fixedly connected with the automatic conveying device, and the sealing door is slidably connected with the garbage output device.

4. A method for using an ampoule medicine intelligent dispensing robot, characterized in that: The ampoule medicine liquid intelligent dispensing robot system suitable for the ampoule medicine liquid intelligent dispensing robot system in any one of the above claims 1-3 comprises the following steps: S1: the turnover plate is turned over, so that the medicine feeder is close to the synchronous belt, and the medicine feeder clamp fixedly connected with the synchronous belt clamps the medicine feeder; S2: the medicine feeder clamp fixedly connected with the synchronous belt clamps the medicine feeder and moves to a position corresponding to the needle removing assembly, and the needle removing assembly removes the needle cap of the medicine feeder; S3: the synchronous belt moves the medicine feeder after the needle cap is removed to a position corresponding to the liquid pumping assembly, and the liquid pumping assembly clamps the medicine feeder; S4: the ampoule to be processed is placed on the tray, the medicine feeder is placed on the turnover plate, and the mother liquor bottle is placed on the mother liquor bottle rack assembly; S5: the operation door is closed, and the man-machine interaction assembly is used to set the motor working parameters of the liquid pumping assembly, the mother liquor bottle rack assembly, the medicine feeder conveying assembly, the CCD assembly, the disinfection device, the medicine feeding assembly and the automatic conveying device; S6: the automatic conveying device clamps the ampoule to be processed from the medicine feeding assembly, and moves the ampoule to be processed to a position corresponding to the disinfection device; S7: the disinfection device sprays disinfectant on the neck of the ampoule to be processed; S8: the ampoule to be processed after disinfection moves to a position corresponding to the cutting assembly, the cutting assembly clamps the ampoule, and cuts around the neck of the ampoule; S9: the cut ampoule moves to a position corresponding to the bottle pulling mechanism, the bottle pulling mechanism clamps the ampoule, and pulls off the neck of the ampoule at the cutting position; S10: the ampoule after the neck is pulled off moves to a position corresponding to the liquid pumping assembly, the liquid pumping assembly pumps the medicine liquid in the ampoule, and the bottle pulling mechanism releases the empty bottle, so that the empty bottle enters the garbage recycling system; S11: the CCD assembly detects the position of the mother liquor bottle opening, and the liquid pumping assembly injects the medicine liquid in the medicine feeder into the mother liquor bottle. S12: The operator opens the operation door and takes out the mother liquor bottle with the prepared liquid medicine.

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